CN102101472A - Braking control apparatus for electric vehicle - Google Patents
Braking control apparatus for electric vehicle Download PDFInfo
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- CN102101472A CN102101472A CN2010105967817A CN201010596781A CN102101472A CN 102101472 A CN102101472 A CN 102101472A CN 2010105967817 A CN2010105967817 A CN 2010105967817A CN 201010596781 A CN201010596781 A CN 201010596781A CN 102101472 A CN102101472 A CN 102101472A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/602—ABS features related thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a braking control apparatus for electric vehicle, which has an electric braking mechanism and an oil pressure braking mechanism, and can reduce the noise when performing anti-lock control. The braking control apparatus for electric vehicle of the invention decomposes a target braking torque into a first frequency component not containing the driving system resonance frequency and a second frequency component containing the driving system resonance frequency; controls the motor to give an electric braking torque by the first frequency component, and actuates a friction brake apparatus to give a friction braking torque to the wheel by the second frequency component.
Description
Technical field
The present invention relates to give by electrical motor the vehicle brake control apparatus of wheel braking moment of torsion.
Background technology
Knowing has such electronlmobil, and it has the pedal force size that depresses according to the driver and the electric braking mechanism that regenerative brake power is changed, and has the pedal force size that depresses according to the driver and the oil brake mechanism that oil brake power is changed.Know that this electronlmobil, possesses some stop mechanisms and prevents the electronlmobil slip controller that this wheel is locked in order to tackle this wheel locking state in the braking in above-mentioned electric braking mechanism or oil brake mechanism.
For example in the technology of patent documentation 1 record, in above-mentioned electric braking mechanism or above-mentioned oil brake mechanism, when a stop mechanism begins to prevent the anti-lock control of this wheel locking, according to the pedal force size of another stop mechanism (not implementing the mechanism of anti-lock control) braking force is reduced gradually and become zeroly and control.
Prior art
Patent documentation 1: specially permit communique No. 3438242
In the braking force control system of above-mentioned patent documentation 1 record, for example control at oil brake mechanism for implementing anti-lock, and the braking force that makes electric braking mechanism reduces gradually and become under zero the situation, becoming anti-lock controls desired braking force and is satisfied by oil brake mechanism fully, produce noise and vibration when appearing at the control oil pressure, might can not embody the quietness of electric braking mechanism.
On the other hand, control at electric braking mechanism for implementing anti-lock, and the braking force that makes oil brake mechanism reduces gradually and become under zero the situation, when anti-lock is controlled desired braking force and is changed greatly, the vibration of the drive wire that produces between the axletree of appearance from the motor output shaft to the wheel might make the quietness of anti-lock control reduce.
Summary of the invention
The present invention is conceived to the problems referred to above and develops, and is to provide a kind of braking force control system of elec. vehicle, can improve quietness when utilizing electric braking mechanism and oil brake mechanism to carry out anti-lock control.
In order to achieve the above object, the braking force control system of elec. vehicle of the present invention is decomposed into the first frequency composition that does not comprise the drive system resonance frequency to the target brake torque and comprises the second frequency composition of drive system resonance frequency, utilize the first frequency Composition Control to give the electrical motor of electric braking moment of torsion, utilize second frequency to become to assign to give the friction stopping device action of wheel friction braking moment of torsion.
Therefore, can below the drive system resonance frequency, use the braking force of electrical motor, can improve quietness.
Description of drawings
Fig. 1 is the skeleton diagram of expression embodiment 1 direct motor drive vehicle structure;
Fig. 2 is the control diagram of block of expression embodiment 1 direct motor drive vehicle braking control structure;
Fig. 3 (a), Fig. 3 (b) are the brake pedal operational ton of expression embodiment 1 and the figure of driver's brake torque command value relation;
Fig. 4 is the relative motor speed frequency of expression and the characteristic map of frequency response gain between motor and the tire;
Fig. 5 is the figure of machine winding temperature and the torque command limits value relation of expression embodiment 1;
Fig. 6 is the figure of transducer element temperature and the torque command limits value relation of expression embodiment 1;
Fig. 7 is the diagram of circuit of the motor friction braking torque command determination section contents processing of expression embodiment 1;
Fig. 8 is the diagram of circuit of the motor friction braking torque command determination section contents processing of expression embodiment 1;
Fig. 9 is illustrated among the embodiment 1, the sequential chart of action example when reducing Motor torque when judging vehicle low speed;
Figure 10 is illustrated among the embodiment 1, and the driver reduces the legpower of brake pedal and the sequential chart of ABS control action example when finishing;
Figure 11 is illustrated among the embodiment 1, and ABS control requires the sequential chart of the action example of the identical brake torque variable quantity state of two-wheeled;
Figure 12 is illustrated among the embodiment 1, utilizes ABS control to carry out the sequential chart of the action example of state of a control when shifting from the state of a control that requires the different respectively brake torque variable quantity of left and right sides two-wheeled to the state of a control that requires the identical brake torque variable quantity of two-wheeled.
Nomenclature
100 electrical motors, 102 electric machine controllers, 104 retarders, 105 differentiators
106 axletrees, 107 high tension batterys, 108 battery controllers
111 vehicle control devices, 113 braking force control system 113a control units
113b fluid control actuator 114 vehicle-wheel speed sensors 115 oil pressure pipe arrangements
116 brake clamps
The specific embodiment
Fig. 1 is the skeleton diagram of the expression embodiment of the invention 1 direct motor drive vehicle structure.And the torque setting that present embodiment is used to brake when vehicle is advanced is for just.
The direct motor drive vehicle possesses the electrical motor 100 that can produce positive negative torque.Electrical motor 100 is connected with resolver 101 as rotation sensor, with reference to the information of this rotation sensor and electric machine controller 102 to changer 103 output drive signals, by controlling Motor torque to electrical motor 100 supplying electric currents by changer.Electrical motor 100 possesses the machine winding temperature sensor of magnetic test coil (machine winding) temperature.Changer 103 possesses the transducer element temperature sensor that detection is configured in component temperatures in the changer 103.
The output shaft of electrical motor 100 is connected with retarder 104, and via differentiator 105 to axletree 106 transfer torques.Supply with the electric power of driving motor 100 from high tension battery 107.And high tension battery 107 is monitored charge conditions (State Of Charge: below be recited as SOC) and the degree of heat by battery controller 108.DC-DC voltage transformer 109 is connected with high tension battery 107, can be to low tension battery 110 chargings by 109 step-downs of DC-DC voltage transformer voltage.
Vehicle control device 111 monitors the legpower or the stroke of brake pedal and Das Gaspedal.Vehicle control device 111 transmits via order wire in the car 112 torque command of plus or minus according to the degree that depresses of brake pedal and Das Gaspedal to braking force control system 113.
Braking force control system 113 comprises: control unit 113a, it comes computing to drive slippage and prevents that control (TCS control) and braking skid from preventing the torque control content of control (ABS control) according to the information of the Motor torque of sensor signal that is arranged on each vehicle-wheel speed sensor 114 of taking turns and electric machine controller 102 outputs; Fluid control actuator 113b, it possesses and has pump and electromagnetism valve housing, produces the friction braking moment of torsion according to the command signal of control unit 113a.Under the situation of braking force control system 113 control friction braking moments of torsion, make the pump action in the braking force control system 113 according to driver's pedal force, and control the switching of corresponding electromagnetic valve, carry braking liquid by oil pressure pipe arrangement 115 to brake clamp 116, produce brake torque (general names such as fluid control actuator 113b, oil pressure pipe arrangement 115 and brake clamp 116 are recited as friction stopping device).Under the situation of braking force control system 113 control Motor torques, to the instruction of electric machine controller 102 transfer torques, produce brake torque by electrical motor 100 by order wire in the car 112.
Fig. 2 is the control diagram of block of expression embodiment 1 direct motor drive vehicle braking control structure.
This control diagram of block comprises: driver's brake torque command calculations portion 200; Abs braking torque command calculating part 201; Motor torque instruction limits value calculating part 202; Motor, friction braking torque command determination section 203 (suitable) with target brake torque command value calculating part.This control structure is arranged on driver's brake torque command calculations portion 200 in the vehicle control device 111, and abs braking torque command calculating part 201, Motor torque instruction limits value calculating part 202, motor and friction braking torque command determination section 203 are arranged in the control unit of braking force control system 113.Each structure of these calculating parts or determination section also can be arranged in other controllers and be not particularly limited.
Brake torque instruction (Dbs) is calculated according to driver's brake pedal legpower or stroke signal by driver's brake torque command calculations portion 200.Fig. 3 is the brake pedal operational ton of expression embodiment 1 and the figure of driver's brake torque command value (Dbs) relation.Fig. 3 (a) expression driver brake torque command value is with respect to the relation of brake pedal legpower, the brake pedal legpower from 0 to specified value and as gap portion command value as 0, the big more brake torque command value (Dbs) of the big more just output of brake pedal legpower then after this.Fig. 3 (b) expression driver brake torque command value is with respect to the relation of brake-pedal travel, the brake-pedal travel amount from 0 to specified value and as gap portion command value as 0, then export the brake torque command value (Dbs) that convex characteristic increases after this for the increase of path increment.These characteristics can be used two characteristics, also can use a characteristic, are not particularly limited.
201 driver's brake torque command value that calculate in driver's brake torque command calculations portion 200 of abs braking torque command calculating part are as the upper limit, and in this scope, calculate brake torque instruction (Tbs) according to vehicle-wheel speed sensor 114 detected each wheelslip state, so that wheel velocity is consistent with the target wheel velocity.
At this, because ABS control is the slip rate of each wheel of control substantially, so be to calculate the brake torque instruction for each wheel.But under the situation that detects particular state, be set at the brake torque instruction variation of back left and right wheels identical.So-called particular state for example is the state that μ crack road (ス プ リ ッ ト) and the stability of extremely hanging down vehicles such as μ road reduce.
Motor torque instruction limits value calculating part 202 calculates the limits value of Motor torque instruction and the limits value of Motor torque instruction variable quantity respectively.Fig. 4 is the characteristic map of frequency response gain between expression relative motor speed frequency and motor, the tire.
The limits value (a, b) of Motor torque instruction variable quantity decides like this: in other words the size of utilizing the relative motor speed frequency of tire rotational speed shown in Figure 4 utilizes the following one-tenth of frequency (α among Fig. 4) that does not comprise the drive system resonance frequency to assign to make Motor torque to change than becoming the little frequency of big frequency.Promptly be the equal of frequency content decomposition portion, reach by Motor torque, reach by the friction braking moment of torsion about the second frequency composition about the first frequency composition.
Suppose that then the action of electrical motor 100 is not followed in the motion of actual tire, and vibrative the reversing such as axle between the tire when using electrical motor 100 with near the frequency output torque command the resonance frequency, this reverses the reason that becomes different sound.On the other hand, because friction stopping device is for roughly paying moment of torsion as the brake disc that one is installed with tire, so do not produce problems such as axle reverses.
Calculate motor shown in Figure 4, the frequency-response data between the tire by experiment or use math modeling.For example when the response of tire becomes big frequency and is 5Hz, Motor torque instruction variable quantity be set at the frequency that makes torque command become 2Hz (=α) below.This frequency content below α Hz is defined as the first frequency composition, the frequency content bigger than α Hz is defined as the second frequency composition.The first frequency composition is the frequency content that does not comprise the drive system resonance frequency, and the second frequency composition is the frequency content that comprises the drive system resonance frequency.
The limits value (Th) of Motor torque instruction is calculated limits value respectively according to the component temperature of the winding temperature of the export permit value of storage battery, motor, changer, the limits value (Th) of its minimum value as last Motor torque instruction.Fig. 5 is the figure of machine winding temperature and torque command limits value (Th) relation of expression embodiment 1, and Fig. 6 is the figure of transducer element temperature and torque command limits value (Th) relation of expression embodiment 1.
Storage battery export permit value is determined from battery controller 108 output and by the state (temperature and charging degree) of storage battery.Motor torque instruction limits value be configured to the scope that can export at storage battery the moment of torsion that can reach.Then according to machine winding temperature and transducer element temperature and the torque rating that obtains limiting by Fig. 5 and figure shown in Figure 6 respectively.And set as the limits value of torque command for the brake torque of ABS control requirement being dropped to torque rating zero and that descend in the time of allowing (for example 30msec) according to above-mentioned torque command variation limitation value (a, b).
The limits value that motor, friction braking torque command determination section 203 calculate according to abs braking torque command calculating part 201 decides the Motor torque command value (Tms) that is limited, the difference of abs braking torque command and Motor torque instruction as the friction braking torque command.
Fig. 7 and Fig. 8 are the diagram of circuits of expression motor friction braking torque command determination section 203 contents processings.
In step 700, read in by Fig. 2 201 shown in the abs braking torque command value (Tbs) that calculates of abs braking torque command calculating part.
In step 701, read in by Fig. 2 202 shown in the limits value (a, b) of Motor torque instruction variable quantity, then, read in Motor torque instruction limits value (Th) in step 702.
[judge that the speed of a motor vehicle is low and reduce the situation of Motor torque]
In step 703, whether judge car speed (NO) below specified value (Vmbd).Is the speed setting that becomes this boundary value than the higher speed of car speed that is difficult to by electrical motor 100 brakings.At car speed is specified value when following, advances to step 704, reduces specified value (dTmbd) from the Motor torque instruction.At this, about the Motor torque command calculations aftermentioned that reduces.
In step 705, instruct needed mark (FLAG) A, mark B, mark C all to set vacation in order to calculate Motor torque during ABS control.
In step 706, the Motor torque command value of upgrading in step 703 (Tms) is limited by the abs braking torque command value (Tbs) of reading in step 700 with at the Motor torque instruction limits value (Th) that step 702 is read in.
In step 707, the difference of the abs braking torque command value (Tbs) of reading in and the Motor torque command value (Tms) that calculates in step 706 in step 700 as friction braking torque command value.
[the uncontrolled situation of ABS]
Being judged as not of step 703, promptly car speed then advances to step 708 when speed is high than specified value (Vmbd), judges whether in the non-control of ABS.So long as in the non-control of ABS, just advance, read in the driver's brake torque command value (Dbs) that calculates by driver's brake torque command value calculating part 200 (with reference to Fig. 2) to step 709.
In step 710, the driver's brake torque command value (Dbs) and the difference of Motor torque command value (Tms) are upgraded Motor torque command value (Tms) as being instructed that the limits value (a, b) of variable quantity is limited by Motor torque to Motor torque command value (Tms) adding then.This is to instruct the limits value (a, b) of variable quantity to make Motor torque command value (Tms) to the close processing of driver's brake torque command value (Dbs) with interior change in torque amount with Motor torque.
Advancing to step 705 then, is that the situation of (YES) is identical with being judged as of step 703 then later on.
[when being required the state of a control of the abs braking change in torque amount that two-wheeled is identical]
Not being judged as not of step 708, in the time of promptly in ABS control, advance (with reference to Fig. 8) to step 711, judge whether for the abs braking torque command variable quantity of left and right wheels as identical state of a control.The situation that is is next advances to step 712 being judged as, and C sets vacation for mark.
In step 713, judge the whether following specified value (Th2) of Motor torque command value (Tms) than the Motor torque instruction limits value (Th) that reads in step 702 (for example be Motor torque instruct limits value (Th) 50%) little.
As if being judged as of step 713 be, then advance, mark A is set come true (True) to step 714.
Whether at step 715 judge mark B is false (False), if vacation is then advanced to step 716, adds specified value (dTss) in Motor torque command value (Tms).At this, the change in torque amount that is added is decided to be: be below the limits value (a, b) of Motor torque instruction variable quantity, and make and consider separately controlled of motor, friction control and changing is not appearred in the total braking force of motor with friction braking moment of torsion total.Advance to step 706 then, then identical later on the uncontrolled situation of ABS.
In step 715, mark B is a true time, advances to step 717.In step 717, abs braking torque command variable quantity (dTbs) is upgraded Motor torque command value (Tms) will be joined by the value that Motor torque instructs variation limitation value (a, b) to be limited to Motor torque command value (Tms).
Advancing (with reference to Fig. 7) to step 706 then, is that false situation is identical with mark B in step 715.
Being judged as not of step 713, when promptly the specified value (Th2) below Motor torque command value (Tms) is Motor torque instruction limits value (Th) is above, advance to step 718, mark B, setting are come true.
Whether at step 719 judge mark A is false, if false, then advances to step 720, deducts specified value (dTss) from Motor torque command value (Tms).
Advance to step 706 then, the situation that is with being judged as of step 713 is identical.
Not being judged as not of step 719, promptly mark A is a true time, then advance to step 717, and in step 715, be that genuine situation is identical with mark B.
As mentioned above, in effect abs braking torque command variable quantity is become under the situation of identical state of a control owing to mark A and mark B, begin be being judged as of step 713 be also whether before and increase the brake torque command value according to step 716, being judged as of step 713 not still for reducing the brake torque command value according to step 720 before being.Therefore, the variable quantity that makes abs braking torque command (Tbs) is afterwards pressed in the satisfied state of a control of Motor torque instruction, and any one of moment of torsion zero-sum brake torque instruction limits value (Th) can both have abundantly controls Motor torque.
[when becoming the state of a control of the different separately abs braking change in torque amount requirement of two-wheeled]
At be judged as not (with reference to Fig. 8) of step 711, when promptly being the state of a control that the abs braking torque command variable quantity for left and right wheels is independently calculated, advance to step 721, mark A and mark B are set for vacation.
Then advance judge mark C to step 722.At mark C is that fictitious time then advances to step 723, judges that Motor torque command value (Tms) is whether than abs braking torque command value (Tbs) or than the following value of the only little specified value of abs braking torque command value (Tbs).
If step 723 is for being then in step 724 mark C to be set for vacation.And and then advance to step 720, upgrade Motor torque command value (Tms).
In step 722, mark C is under the genuine situation, promptly after becoming the state of a control that abs braking torque command variable quantity is calculated respectively by left and right wheels, even once be judged as when being in step 723, and the also judgement of skips steps 723 and advancing to step 720.
In step 723 for not, promptly Motor torque command value (Tms) be abs braking torque command value (Tbs) or than the big situation of the value of the only little specified value of abs braking torque command value (Tbs) under, do not change the Motor torque instruction and advance to step 706.
As mentioned above, the effect owing to mark C make abs braking torque command variable quantity become left and right wheels different from state in, when Motor torque command value (Tms) is an abs braking torque command value (Tbs) or than the following value of the only little specified value of abs braking torque command value (Tbs), then continue to reduce Motor torque command value (Tms) according to step 720.During not needing to reduce Motor torque command value (Tms) (step 723 for not), keep Motor torque command value (Tms) thus, when needs reduce, once be reduced to become zero, can motor after making it and the friction braking moment of torsion can not change simultaneously.
Below, on one side with reference to Fig. 9～Figure 11 action example of the time flow of instruction diagram 7 and Fig. 8 on one side.
Fig. 9 is the sequential chart that is illustrated among the embodiment 1 action example when reducing Motor torque (step 704 of Fig. 7) when judging vehicle low speed (step 703 of Fig. 7).Zone 800 is illustrated in the ABS control (step 708 of Fig. 7 for not) state of a control as the identical brake torque instruction of two-wheeled variable quantity.
In zone 801, ABS control detects vehicle low speed and enters in order to make the brake torque moment of torsion consistent with driver's brake torque command value (Dbs) increase state, reduces the motor braking moment of torsion simultaneously.At this, Motor torque instruction reduction is set like this: make Motor torque become the car speed that zero ground is difficult to brake up to motor.Promptly predict the restive needed time of car speed of electrical motor 100 that arrives from present car speed with from the car retardation to the car speed, time with the present Motor torque command value (Tms) of prediction removes, and obtains the Motor torque command value (Tms) that time per unit should reduce.The friction braking moment of torsion replenishes exporting of abs braking torque command and Motor torque instruction poorly according to the step 707 of Fig. 7.
Figure 10 is illustrated in that driver among the embodiment 1 reduces the legpower of brake pedal and the sequential chart of ABS control action example when finishing.Zone 900 expression driver's brake torque command value (Dbs) reduce and become situation below the abs braking torque command value (Tbs).Abs braking torque command value (Tbs) is in order similarly to reduce driver's brake torque command value (Dbs) as the upper limit.At this moment, Motor torque command value (Tms) reduces Motor torque according to this moment of torsion reduction and friction braking torque control mechanism is controlled with being failure to actuate.But after abs braking torque command value (Tbs) is consistent with driver's brake torque command value (Dbs) and at the appointed time, when the ABS control state is disengaged (zone 901), Motor torque and driver's brake torque command value (Dbs) are as one man changed.
Figure 11 is the sequential chart that is illustrated in the action example of the brake torque variable quantity state that ABS control requirement two-wheeled is identical among the embodiment 1.Know at ice snow covered pavement etc., each wheel control and can improve the stability of vehicle respectively about identical being compared to of state of each wheel is implemented in this case about making.
In zone 1001, the limits value (a, b) and the Motor torque of the Motor torques instruction variable quantity that calculates owing to 202 of Fig. 2 instruct limits value (Th) that the increase of Motor torque command value (Tms) is limited, and just become friction braking torque command value with the difference of abs braking torque command value (Tbs).
In zone 1002, ABS control begins (the ABS control mark becomes very), and abs braking torque command value (Tbs) reduces.At this moment, because Motor torque command value (Tms) is bigger than the specified value (Th2) below the Motor torque instruction limits value (Th), so minimizing Motor torque instruction according to the step 720 of Fig. 8.
The minimizing of Motor torque instruction is implemented up to the specified value (Th2) that becomes below the above-mentioned Motor torque instruction limits value (Th).This is that then the Motor torque control mechanism increases the cause that requires with regard to the brake torque that does not respond later ABS control owing to be near the limits value (Th) when Motor torque instructs.When becoming this state, then the frequency of friction stopping device action increases, and produces the cause of noise and vibration.
In zone 1003, satisfy abs braking torque command variable quantity (dTbs) by the change of Motor torque.Therefore, do not need to make the friction stopping device action, the noise and the vibration that are produced when not occurring in the friction stopping device action.
In zone 1004, abs braking torque command variable quantity (dTbs) is limited by the limits value (a, b) of the Motor torques instruction variable quantity that 202 of Fig. 2 calculates, the friction braking moment of torsion for additional for abs braking torque command value (Tbs) insufficient section and increase.Occurring big abs braking torque command variable quantity (dTbs) as the one's respective area, is when changing on the road surface of vehicle to run etc., and the vehicle braked moment of torsion also has big variation.Noise that produces when therefore, moving for Motor torque being instructed confined part replenished by friction stopping device and vibration are allowed.
In zone 1005, because abs braking torque command variable quantity (dTbs) becomes below the limits value (a, b) of Motor torque instruction variable quantity once more, so similarly satisfy abs braking torque command variable quantity (dTbs) by the change of Motor torque with zone 1003.
In zone 1006, abs braking torque command variable quantity (dTbs) is limited by the limits value (a, b) of Motor torque instruction variable quantity, the friction braking moment of torsion for additional for abs braking torque command value (Tbs) insufficient section and reduce.
In zone 1007, similarly satisfy abs braking torque command variable quantity (dTbs) with zone 1003,1005 once more by the change of Motor torque.
As mentioned above, by making motor braking torque control mechanism and friction braking torque control mechanism action, by road surface variation etc. be thereby do not requiring the zone of brake torque variable quantity greatly, only satisfy abs braking torque command variable quantity (dTbs) by Motor torque, the frequency of brake equipment action so can reduce friction, the noise that is produced during the friction stopping device action and the generation frequency of vibration are also few.
Figure 12 is that expression utilizes ABS control from requiring the left and right sides two-wheeled state of a control of different brake torque variable quantities respectively, the sequential chart of the action example when the state of a control that requires the identical brake torque variable quantity of two-wheeled is carried out the state of a control transfer.
In zone 1100, in the limits value (a, b) of the Motor torque instruction variable quantity that the Motor torque of Fig. 2 instruction limits value calculating part 202 calculates and Motor torque instruct the scope of limits value (Th), Motor torque command value (Tms) is limited, the difference of abs braking torque command value (Tbs) and Motor torque command value (Tms) as friction braking torque command value.
In zone 1101, ABS control begins (the ABS control mark becomes very), although abs braking torque command value (Tbs) reduces, but also not below the Motor torque command value (Tms), being judged as not of the step 723 of Fig. 8, Motor torque command value (Tms) is held, and abs braking torque command variable quantity (dTbs) satisfies by the friction braking moment of torsion.
In zone 1102, abs braking torque command value (Tbs) becomes below the motor braking torque command value.Therefore, to become be that Motor torque command value (Tms) reduces according to the step 720 of Fig. 8 in the judgement of the step 723 of Fig. 8.At this moment, Motor torque command value (Tms) descends constant.In case when Motor torque command value (Tms) descends, then replacements and friction braking torque command value (Tps) increase.When the amplitude of this increase was big, the drive amount of pump is also big, and was unfavorable on acoustical vibration (sound shakes) performance.But in case after increasing, only just do not needed such driving pump, so just can improve the acoustical vibration performance by decline Motor torque command value (Tms) is constant by inching.
In zone 1103, ABS control becomes the state of a control of the identical brake torque variable quantity of requirement two-wheeled, and the judgement of the step 711 of Fig. 8 becomes and is.Then, increase the Motor torque instruction according to the step 717 of Fig. 8, after more than the specified value (Th2) that becomes below the Motor torque instruction limits value (Th), become the state of a control that satisfies abs braking torque command variable quantity (dTbs) by Motor torque.
As described above, embodiment 1 can access the action effect of enumerating below.
(1) have: electrical motor 100, it is according to the Motor torque command value of calculating and to give the electric braking moment of torsion via drive system bonded assembly wheel; Friction stopping device, it gives the friction braking moment of torsion according to the friction braking torque command value of calculating to described wheel; Motor, friction braking torque command determination section 203 (target brake torque command value calculating part), it calculates target brake torque command value according to the state of wheel or driver's brake request; (frequency content decomposition portion), its described target brake torque command value resolves into the first frequency composition that does not comprise described drive system resonance frequency and comprises the above second frequency composition of described first frequency composition of described drive system resonance frequency; (brake-power control portion), it is for described wheel and according to giving described electric braking moment of torsion with the cooresponding described Motor torque command value of described first frequency composition, and according to giving described friction braking moment of torsion with the cooresponding described friction braking torque command value of described second frequency composition.
Therefore, since at the drive system resonance frequency to use the braking of electrical motor 100 down, so can improve the acoustical vibration performance.That is, under the situation of paying the friction braking moment of torsion, owing to be attended by the driving of pump and the action of electromagnetic valve, so produce sound and vibration along with its actuating quantity.On the other hand, pay under the situation of brake torque utilizing electrical motor 100, although be not attended by the action of the driving of pump and electromagnetic valve and they self can not become the reason of sound and vibration, but the axle drive shaft between binding electrical motor 100 and the drive wheel etc. reverses, in this reverses relation with the wheel revolutions state, cause resonance, become reasons such as vibration.To this, by the first frequency composition that does not comprise the drive system resonance frequency is shared vibration that prevents drive system etc. by electrical motor 100.And owing to the brake torque that utilizes electrical motor 100 to share need not born by the friction braking moment of torsion, so can reduce the driving of pump and the action of electromagnetic valve for this reason.
(2) motor and friction braking torque command determination section 203 (target brake torque command value calculating part) determine according to the slip state of wheel and according to the input of the abs braking torque command calculating part 201 (anti-lock target brake torque command value calculating part) that suppresses slip state.Therefore, the acoustical vibration performance in the time of can improving ABS control.When ABS control, control wheel slew mode so that the friction force between road surface and the tire in big scope.That is, the slip rate with regulation is the increase and decrease that wheel velocity is carried out on the border.Even under the situation of wheel speed vibration, also can sound-inhibiting and generation of vibration.
(3) in the electric vehicle braking control setup of above-mentioned (2) record, the first frequency composition is roughly half following (frequency content of 1～2Hz) of described drive system resonance frequency.Therefore, can have for the drive system resonance frequency and abundantly to make the motor braking action, motor braking is difficult to enter resonance zone, can improve the acoustical vibration performance.
(4) in the electric vehicle braking control setup of above-mentioned (2) record, drive system is and electrical motor 100 output shaft bonded assembly differentiators 105 (differential attachment) and the axletree 106 that is connected differentiator 105 and pair of right and left wheel.That is, even utilize an electrical motor to drive single electric system of a plurality of wheels, about also can controlling independently by friction stopping device.In addition, even owing to the drive system via gear does not resonate yet, so can improve the acoustical vibration performance of following backlash.
(5) in the electric vehicle braking control setup of above-mentioned (4) record, in the abs braking torque command value of calculating by abs braking torque command calculating part 201 under the different situation of pair of right and left wheel, any abs braking torque command value of the left and right sides become with below the cooresponding Motor torque command value of first frequency composition before, keep the Motor torque command value, any abs braking torque command value becomes with the cooresponding Motor torque command value of first frequency composition when following in the left and right sides, reduces the Motor torque command value.
Therefore, once utilize pump etc. to make the friction stopping device action, later on by use friction stopping device just can be not exceedingly the implementation that drives of pump and stopping repeatedly, by about be suitable for during independent control, just more can improve the acoustical vibration performance.
(6) in the electric vehicle braking control setup of above-mentioned (5) record, as abs braking torque command value and increase corresponding with the minimizing part of Motor torque command value generates friction braking torque command value.Therefore, can access the abs braking torque command value of hope.
(7) in the electric vehicle braking control setup of above-mentioned (4) record, a pair of wheel is the trailing wheel of automobile.Like this, under the situation that is suitable for rear drive, also can improve the stability of vehicle action more.
(8) in the electric vehicle braking control setup of above-mentioned (1) record, have: be installed on the vehicle and a high tension battery 107 that the electric power that utilizes electrical motor 100 to regenerate carries out electric power storage, detect the battery controller 108 (SOC test section) of the SOC of high tension battery 107, the machine winding temperature sensor and the transducer element temperature sensor (temperature detecting part) of the coil of detection electrical motor 100 and the changer temperature of driving motor, according to the Motor torque command value relevant of battery controller 108 testing results or under, utilize that minimum command value gives the electric braking moment of torsion in each relevant Motor torque command value according to Motor torque command value described temperature sensor testing result and temperature correlation the situation littler than Motor torque command value with SOC.
Therefore, for the constructional delails irrelevant suitable Motor torque command value that can access and load.
(9) have: electrical motor 100, it gives the electric braking moment of torsion via axletree to the bonded assembly wheel according to the Motor torque command value of calculating at least as drive system; Friction stopping device, it gives the friction braking moment of torsion according to the friction braking torque command value of calculating to wheel; Motor, friction braking torque command determination section 203 (target brake torque command value calculating part), it calculates target brake torque command value according to the state of wheel or driver's brake request; Controller unit, it as the Motor torque command value, makes the action of described electrical motor and friction stopping device to the difference of described target brake torque command value and described Motor torque command value than the low frequency content command value of drive system resonance frequency as described friction system torque command value.
Therefore, since at the drive system resonance frequency to use the braking of electrical motor 100 down, so can improve the acoustical vibration performance.
(10) in the electric vehicle braking control setup of above-mentioned (9) record, motor and friction braking torque command determination section 203 determine according to the slip state of wheel and according to the input of the abs braking torque command calculating part 201 (anti-lock target brake torque command value calculating part) of inhibition slip state.Therefore, the acoustical vibration performance in the time of can improving ABS control.
(11) in the electric vehicle braking control setup of above-mentioned (10) record, axletree 106 connects the pair of right and left wheel via differentiator 105 (differential attachment).That is, even utilize an electrical motor to drive single electric system of a plurality of wheels, about also can controlling independently by friction stopping device.Even owing to do not resonate, so can improve the acoustical vibration performance of following backlash via the drive system of gear yet.
(12) in the electric vehicle braking control setup of above-mentioned (11) record, in the abs braking torque command value of calculating by abs braking torque command value calculating part 201 under the different situation of described pair of right and left wheel, any abs braking torque command value of the left and right sides become with below the cooresponding Motor torque command value of described first frequency composition before, keep the Motor torque command value, any abs braking torque command value becomes with the cooresponding described Motor torque command value of described first frequency composition when following in the left and right sides, reduces described Motor torque command value.
Therefore, once utilize pump etc. to make the friction stopping device action, later on by use friction stopping device just can be not exceedingly the implementation that drives of pump and stopping repeatedly, by about be suitable for during independent control, just more can improve the acoustical vibration performance.
(13) in the electric vehicle braking control setup of above-mentioned (12) record, as abs braking torque command value and increase corresponding with the minimizing part of described Motor torque command value generates described friction braking torque command value.Therefore, can access the abs braking torque command value of hope.
(14) in the electric vehicle braking control setup of above-mentioned (9) record, described first frequency composition is roughly half following (frequency content of 1～2Hz) of described drive system resonance frequency.Therefore, can have for the drive system resonance frequency and abundantly to make the motor braking action, motor braking is difficult to enter resonance zone, can improve the acoustical vibration performance.
(15) in the electric vehicle braking control setup of above-mentioned (9) record, have: be installed on the vehicle and a high tension battery 107 that the electric power that utilizes described electrical motor 100 to regenerate carries out electric power storage, detect the battery controller 108 (SOC test section) of the SOC of high tension battery 107, the machine winding temperature sensor and the transducer element temperature sensor (temperature detecting part) of the coil of detection electrical motor 100 and the changer temperature of driving motor, according to the Motor torque command value relevant of battery controller 108 testing results or under, utilize that minimum command value gives the electric braking moment of torsion in each relevant Motor torque command value according to Motor torque command value described temperature sensor testing result and temperature correlation the situation littler than Motor torque command value with SOC.
Therefore, for the constructional delails irrelevant suitable Motor torque command value that can access and load.
(16) a kind of braking force control system of elec. vehicle possesses: the pair of right and left wheel, and it is connected with the output shaft of electrical motor 100 with axletree 106 via differentiator 105 (differential attachment); Electrical motor 100, it gives the electric braking moment of torsion according to the Motor torque command value of calculating to described wheel; Friction stopping device, it gives the friction braking moment of torsion according to the friction braking torque command value of calculating to described wheel; Abs braking torque command calculating part 201 (anti-lock target brake torque command value calculating part), it detects the slip state of described wheel and calculates the brake torque that suppresses wheelslip, calculates identical described brake torque command value according to vehicle-state for described pair of right and left wheel; Motor torque command value calculating part, it calculates with described axletree and reverses and the following corresponding described Motor torque command value of resonance frequency of resonance frequency; Motor, friction braking torque command determination section 203 (brake-power control portion), its increase and decrease is to the described brake torque of described wheel effect, so that become the described abs braking torque command value that calculates (anti-lock target brake torque command value), in abs braking torque command value when described Motor torque command value is following, give brake torque according to described Motor torque command value, abs braking torque command value than the big situation of described confined Motor torque command value under, then the brake torque of the difference of abs braking torque command value and described Motor torque command value is controlled friction stopping device as described friction braking moment of torsion.
Thus, can improve the performance of the acoustical vibration of the operating frequency that is used for to reduce friction stopping device.
(17) in the electric vehicle braking control setup of above-mentioned (16) record, described resonance frequency composition is roughly half following (frequency content of 1～2Hz) of described drive system resonance frequency.Therefore, can have surplus for the drive system resonance frequency and make the motor braking action, motor braking is difficult to enter resonance zone, can improve the acoustical vibration performance.
(18) in the electric vehicle braking control setup of above-mentioned (17) record, motor, the abs braking torque command value that friction braking torque command determination section 203 (brake-power control portion) calculates at abs braking torque command calculating part 201 is under the different situation of described pair of right and left wheel, any abs braking torque command value of the left and right sides become with below the cooresponding described Motor torque command value of described first frequency composition before, keep described Motor torque command value, any abs braking torque command value becomes with the cooresponding described Motor torque command value of described first frequency composition when following in the left and right sides, reduces described Motor torque command value.
Therefore, once utilize pump etc. to make the friction stopping device action, later on by use friction stopping device just can be not exceedingly the implementation that drives of pump and stopping repeatedly, about be suitable for during independent control and then more can improve the acoustical vibration performance.
(19) in the electric vehicle braking control setup of above-mentioned (18) record, motor makes as abs braking torque command value with friction braking torque command determination section 203 and generates friction braking torque command value with corresponding the increasing of the minimizing part of Motor torque command value.Therefore, can access the abs braking torque command value of hope.
(20) in the electric vehicle braking control setup of above-mentioned (19) record, have: be installed on the vehicle and a high tension battery 107 that the electric power that utilizes described electrical motor 100 to regenerate carries out electric power storage, detect the battery controller 108 (SOC test section) of the SOC of high tension battery 107, the machine winding temperature sensor and the transducer element temperature sensor (temperature detecting part) of the coil of detection electrical motor 100 and the changer temperature of driving motor, according to the Motor torque command value relevant of battery controller 108 testing results or under, utilize that minimum command value gives the electric braking moment of torsion in each relevant Motor torque command value according to Motor torque command value described temperature sensor testing result and temperature correlation the situation littler than Motor torque command value with SOC.
Therefore, for the constructional delails irrelevant suitable Motor torque command value that can access and load.
Claims (10)
1. the braking force control system of an elec. vehicle has:
According to the Motor torque command value of calculating and to the electrical motor that gives the electric braking moment of torsion via drive system bonded assembly wheel,
According to the friction braking torque command value of calculating and to described wheel give the friction braking moment of torsion friction stopping device,
According to the state of wheel or driver's brake request calculate target brake torque command value target brake torque command value calculating part,
Described target brake torque command value resolve into frequency content decomposition portion than low first frequency composition of described drive system resonance frequency and the second frequency composition more than described first frequency composition,
For described wheel and according to giving described electric braking moment of torsion with the cooresponding described Motor torque command value of described first frequency composition, and according to giving the brake-power control portion of described friction braking moment of torsion with the cooresponding described friction braking torque command value of described second frequency composition.
2. electric vehicle braking control setup as claimed in claim 1 is characterized in that,
Described target brake torque command value calculating part has anti-lock target brake torque command value calculating part, and described anti-lock target brake torque command value calculating part suppresses slip state according to the slip state of described wheel.
3. electric vehicle braking control setup as claimed in claim 2 is characterized in that,
Described first frequency composition is roughly half following frequency content of described drive system resonance frequency.
4. electric vehicle braking control setup as claimed in claim 2 is characterized in that,
Described drive system is and described motor output shaft bonded assembly differential attachment and the axletree that is connected described differential attachment and the described wheel of pair of right and left.
5. electric vehicle braking control setup as claimed in claim 4 is characterized in that,
The anti-lock target brake torque command value that described brake-power control portion is calculated at described anti-lock target brake torque command value calculating part is under the different situation of described pair of right and left wheel, any anti-lock target brake torque command value of the left and right sides become with below the cooresponding described Motor torque command value of described first frequency composition before, keep described Motor torque command value, any anti-lock target brake torque command value becomes with the cooresponding described Motor torque command value of described first frequency composition when following in the left and right sides, reduces described Motor torque command value.
6. electric vehicle braking control setup as claimed in claim 2 is characterized in that,
Described first frequency composition is the frequency content of 1～2Hz.
7. electric vehicle braking control setup as claimed in claim 4 is characterized in that,
Described a pair of wheel is the trailing wheel of automobile.
8. electric vehicle braking control setup as claimed in claim 1 is characterized in that,
Have: the voltage storage battery, it is installed on the vehicle and the electric power that utilizes electrical motor regeneration and carries out electric power storage; Storage battery SOC test section, it detects the SOC of high tension battery; Machine winding temperature sensor and transducer element temperature sensor, it detects the changer temperature of the coil and the driving motor of described electrical motor,
According to the Motor torque command value of described storage battery SOC test section testing result or under, utilize that minimum command value gives the electric braking moment of torsion in each Motor torque command value according to Motor torque command value described temperature sensor testing result and temperature correlation the situation littler than Motor torque command value.
9. the braking force control system of an elec. vehicle is characterized in that,
Have: electrical motor, it gives the electric braking moment of torsion via axletree to the bonded assembly wheel according to the Motor torque command value of calculating at least as drive system; Friction stopping device, it gives the friction braking moment of torsion according to the friction braking torque command value of calculating to wheel; Target brake torque command value calculating part, it calculates target brake torque command value according to the state of wheel or driver's brake request; Controller unit, it as the Motor torque command value, makes the action of described electrical motor and friction stopping device to the difference of described target brake torque command value and described Motor torque command value than the low frequency content command value of drive system resonance frequency as described friction torque command value.
10. the braking force control system of an elec. vehicle is characterized in that,
Possess: the pair of right and left wheel, it is connected with the output shaft of electrical motor with axletree via differential attachment; Electrical motor (100), it gives the electric braking moment of torsion according to the Motor torque command value of calculating to described wheel; Friction stopping device, it gives the friction braking moment of torsion according to the friction braking torque command value of calculating to described wheel; Target brake torque command value calculating part, it detects the slip state of described wheel and calculates the brake torque that suppresses wheelslip, calculates identical described brake torque command value according to vehicle-state for described pair of right and left wheel; Motor torque command value calculating part, it calculates with described axletree and reverses and the following corresponding described Motor torque command value of resonance frequency of resonance frequency; Brake-power control portion, its increase and decrease is to the described brake torque of described wheel effect, so that become the described abs braking torque command value that calculates (anti-lock target brake torque command value), in abs braking torque command value when described Motor torque command value is following, give brake torque according to described Motor torque command value, abs braking torque command value than the big situation of described confined Motor torque command value under, the brake torque of the difference of abs braking torque command value and described Motor torque command value is controlled friction stopping device as described friction braking moment of torsion.
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| JP2009287256A JP4913205B2 (en) | 2009-12-18 | 2009-12-18 | Electric vehicle braking control device |
| JP287256/09 | 2009-12-18 |
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| US (1) | US8573709B2 (en) |
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| US10807577B2 (en) | 2015-09-10 | 2020-10-20 | Ntn Corporation | Powered brake device |
| CN108025724B (en) * | 2015-09-10 | 2020-12-18 | Ntn株式会社 | Electric brake device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4913205B2 (en) | 2012-04-11 |
| JP2011126432A (en) | 2011-06-30 |
| CN102101472B (en) | 2014-10-15 |
| DE102010054452A1 (en) | 2011-06-22 |
| DE102010054452B4 (en) | 2022-08-25 |
| US8573709B2 (en) | 2013-11-05 |
| US20110148184A1 (en) | 2011-06-23 |
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